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<a href="a00005.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef TY_COORDINATE_MAPPER_H_</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define TY_COORDINATE_MAPPER_H_</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="a00002.html">TYApi.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="a00173.html">   12</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="a00173.html">TY_PIXEL_DESC</a></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  int16_t x;      <span class="comment">// x coordinate in pixels</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  int16_t y;      <span class="comment">// y coordinate in pixels</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  uint16_t depth; <span class="comment">// depth value</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  uint16_t rsvd;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}<a class="code" href="a00173.html">TY_PIXEL_DESC</a>;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="a00177.html">   20</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    int16_t x;          <span class="comment">// x coordinate in pixels</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    int16_t y;          <span class="comment">// y coordinate in pixels</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    uint8_t bgr_ch1;    <span class="comment">// color info &lt;channel 1&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    uint8_t bgr_ch2;    <span class="comment">// color info &lt;channel 2&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    uint8_t bgr_ch3;    <span class="comment">// color info &lt;channel 3&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    uint8_t rsvd;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}<a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// ------------------------------</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//  base convertion</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// ------------------------------</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;TY_CAPI   <a class="code" href="a00005.html#a466f1f9ecdb947607c5da179d1826c19">TYInvertExtrinsic</a>         (<span class="keyword">const</span> <a class="code" href="a00069.html">TY_CAMERA_EXTRINSIC</a>* orgExtrinsic,</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                                     <a class="code" href="a00069.html">TY_CAMERA_EXTRINSIC</a>* invExtrinsic);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;TY_CAPI   <a class="code" href="a00005.html#a1d3c838a1ee03c5f030457d51c2fd375">TYMapDepthToPoint3d</a>       (<span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* src_calib,</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                                     uint32_t depthW, uint32_t depthH,</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* depthPixels, uint32_t count,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                                     <a class="code" href="a00061.html">TY_VECT_3F</a>* point3d,</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                     <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;TY_CAPI   <a class="code" href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a>       (<span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* dst_calib,</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="a00061.html">TY_VECT_3F</a>* point3d, uint32_t count,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                                     uint32_t depthW, uint32_t depthH,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                                     <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* depth);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;TY_CAPI   <a class="code" href="a00005.html#a3ae23d9ec90f2554984519826198e9df">TYMapDepthImageToPoint3d</a>  (<span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* src_calib,</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                                     int32_t imageW, int32_t imageH,</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                                     <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                                     <a class="code" href="a00061.html">TY_VECT_3F</a>* point3d, </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                     <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;TY_CAPI   <a class="code" href="a00005.html#aa8a7439648a50e28e3c83d5db528c5f6">TYMapPoint3dToDepthImage</a>  (<span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* dst_calib,</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="a00061.html">TY_VECT_3F</a>* point3d, uint32_t count,</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                                     uint32_t depthW, uint32_t depthH, uint16_t* depth);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;TY_CAPI   <a class="code" href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a>     (<span class="keyword">const</span> <a class="code" href="a00069.html">TY_CAMERA_EXTRINSIC</a>* extrinsic,</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="a00061.html">TY_VECT_3F</a>* point3dFrom, int32_t count,</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                                     <a class="code" href="a00061.html">TY_VECT_3F</a>* point3dTo);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">// ------------------------------</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">//  inlines</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">// ------------------------------</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapDepthToColorCoordinate(</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                  uint32_t depthW, uint32_t depthH,</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* depth, uint32_t count,</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                  uint32_t mappedW, uint32_t mappedH,</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* mappedDepth,</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapDepthImageToColorCoordinate(</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth, </div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYCreateDepthToColorCoordinateLookupTable(</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                  uint32_t mappedW, uint32_t mappedH,</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* lut,</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapRGBPixelsToDepthCoordinate(</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    uint32_t rgbW, uint32_t rgbH,</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a>* src, uint32_t cnt,</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    uint32_t   min_distance,</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    uint32_t   max_distance,</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a>* dst,</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapRGBImageToDepthCoordinate(</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                  uint32_t rgbW, uint32_t rgbH, <span class="keyword">const</span> uint8_t* inRgb,</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                  uint8_t* mappedRgb,</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapMono8ImageToDepthCoordinate(</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                  uint32_t monoW, uint32_t monoH, <span class="keyword">const</span> uint8_t* inMono,</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                  uint8_t* mappedMono,</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit = 1.0f);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#define TYMAP_CHECKRET(f, bufToFree) \</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">  do{ \</span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">    TY_STATUS err = (f); \</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">    if(err){ \</span></div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">      if(bufToFree) \</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">        free(bufToFree); \</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">      return err; \</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">    } \</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">  } while(0)</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  </div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapDepthToColorCoordinate(</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                  uint32_t depthW, uint32_t depthH,</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* depth, uint32_t count,</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                  uint32_t mappedW, uint32_t mappedH,</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* mappedDepth,</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;{</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <a class="code" href="a00061.html">TY_VECT_3F</a>* p3d = (<a class="code" href="a00061.html">TY_VECT_3F</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="a00061.html">TY_VECT_3F</a>) * count);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a1d3c838a1ee03c5f030457d51c2fd375">TYMapDepthToPoint3d</a>(depth_calib, depthW, depthH, depth, count, p3d, f_scale_unit), p3d );</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <a class="code" href="a00069.html">TY_CAMERA_EXTRINSIC</a> extri_inv;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a466f1f9ecdb947607c5da179d1826c19">TYInvertExtrinsic</a>(&amp;color_calib-&gt;extrinsic, &amp;extri_inv), p3d);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a>(&amp;extri_inv, p3d, count, p3d), p3d );</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a>(color_calib, p3d, count, mappedW, mappedH, mappedDepth), p3d );</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  free(p3d);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;}</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapDepthImageToColorCoordinate(</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth, <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <a class="code" href="a00061.html">TY_VECT_3F</a>* p3d = (<a class="code" href="a00061.html">TY_VECT_3F</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="a00061.html">TY_VECT_3F</a>) * depthW * depthH);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; 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       color_calib, p3d, depthW * depthH,  mappedW, mappedH, mappedDepth), p3d);</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  free(p3d);</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapRGBPixelsToDepthCoordinate(</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    uint32_t rgbW, uint32_t rgbH,</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a>* src, uint32_t cnt,</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    uint32_t   min_distance,</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    uint32_t   max_distance,</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <a class="code" href="a00177.html">TY_PIXEL_COLOR_DESC</a>* dst,</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;{</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; 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   }</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <a class="code" href="a00005.html#a1d3c838a1ee03c5f030457d51c2fd375">TYMapDepthToPoint3d</a>(color_calib, rgbW, rgbH, pixels_array, m_distance_range, &amp;p3d_array[0], f_scale_unit);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <a class="code" href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a>(&amp;extri, &amp;p3d_array[0], m_distance_range, &amp;p3d_array[0]);</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <a class="code" href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a>(depth_calib, p3d_array, m_distance_range, depthW, depthH, pixels_mapped_array);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    uint16_t m_min_delt = 0xffff;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    dst[i].x = -1;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    dst[i].y = -1;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">for</span> (uint32_t m = 0; m &lt; m_distance_range; m++) {</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      int16_t pixel_x = pixels_mapped_array[m].x;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      int16_t pixel_y = pixels_mapped_array[m].y;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      uint16_t delt = abs(pixels_mapped_array[m].depth - depth[pixel_y*depthW + pixel_x]);</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordflow">if</span> (delt &lt; m_min_delt) {</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        m_min_delt = delt;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">if</span> (m_min_delt &lt; 10) {</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          dst[i].x = pixel_x;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          dst[i].y = pixel_y;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          dst[i].bgr_ch1 = src[i].bgr_ch1;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          dst[i].bgr_ch2 = src[i].bgr_ch2;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          dst[i].bgr_ch3 = src[i].bgr_ch3;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        }</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      }</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    }</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  free(pixels_array);</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  free(pixels_mapped_array);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  free(p3d_array);</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  </div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;}</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYCreateDepthToColorCoordinateLookupTable(</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                  uint32_t mappedW, uint32_t mappedH,</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* lut,</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                  <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;{</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <a class="code" href="a00061.html">TY_VECT_3F</a>* p3d = (<a class="code" href="a00061.html">TY_VECT_3F</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="a00061.html">TY_VECT_3F</a>) * depthW * depthH);</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a3ae23d9ec90f2554984519826198e9df">TYMapDepthImageToPoint3d</a>(depth_calib, depthW, depthH, depth, p3d, f_scale_unit), p3d);</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <a class="code" href="a00069.html">TY_CAMERA_EXTRINSIC</a> extri_inv;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a466f1f9ecdb947607c5da179d1826c19">TYInvertExtrinsic</a>(&amp;color_calib-&gt;extrinsic, &amp;extri_inv), p3d);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a>(&amp;extri_inv, p3d, depthW * depthH, p3d), p3d);</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  TYMAP_CHECKRET(<a class="code" href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a>(color_calib, p3d, depthW * depthH, mappedW, mappedH, lut), p3d );</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  free(p3d);</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapRGBImageToDepthCoordinate(</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                  uint32_t rgbW, uint32_t rgbH, <span class="keyword">const</span> uint8_t* inRgb,</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                  uint8_t* mappedRgb, <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;{</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* lut = (<a class="code" href="a00173.html">TY_PIXEL_DESC</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="a00173.html">TY_PIXEL_DESC</a>) * depthW * depthH);</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                    depth_calib, depthW, depthH, depth,</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                    color_calib, rgbW, rgbH, lut, f_scale_unit), lut);</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keywordflow">for</span>(uint32_t depthr = 0; depthr &lt; depthH; depthr++)</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="keywordflow">for</span>(uint32_t depthc = 0; depthc &lt; depthW; depthc++)</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  {</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* plut = &amp;lut[depthr * depthW + depthc];</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    uint8_t* outPtr = &amp;mappedRgb[depthW * depthr * 3 + depthc * 3];</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keywordflow">if</span>(plut-&gt;x &lt; 0 || plut-&gt;x &gt;= (<span class="keywordtype">int</span>)rgbW || plut-&gt;y &lt; 0 || plut-&gt;y &gt;= (<span class="keywordtype">int</span>)rgbH){</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      outPtr[0] = outPtr[1] = outPtr[2] = 0;</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keyword">const</span> uint8_t* inPtr = &amp;inRgb[rgbW * plut-&gt;y * 3 + plut-&gt;x * 3];</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      outPtr[0] = inPtr[0];</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      outPtr[1] = inPtr[1];</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      outPtr[2] = inPtr[2];</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    }</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  free(lut);</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> TY_STATUS TYMapMono8ImageToDepthCoordinate(</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* depth_calib,</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                  uint32_t depthW, uint32_t depthH, <span class="keyword">const</span> uint16_t* depth,</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                  <span class="keyword">const</span> <a class="code" href="a00077.html">TY_CAMERA_CALIB_INFO</a>* color_calib,</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                  uint32_t monoW, uint32_t monoH, <span class="keyword">const</span> uint8_t* inMono,</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                  uint8_t* mappedMono, <span class="keywordtype">float</span> f_scale_unit)</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;{</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* lut = (<a class="code" href="a00173.html">TY_PIXEL_DESC</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="a00173.html">TY_PIXEL_DESC</a>) * depthW * depthH);</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                    depth_calib, depthW, depthH, depth,</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                    color_calib, monoW, monoH, lut, f_scale_unit), lut);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordflow">for</span>(uint32_t depthr = 0; depthr &lt; depthH; depthr++)</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordflow">for</span>(uint32_t depthc = 0; depthc &lt; depthW; depthc++)</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  {</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <a class="code" href="a00173.html">TY_PIXEL_DESC</a>* plut = &amp;lut[depthr * depthW + depthc];</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    uint8_t* outPtr = &amp;mappedMono[depthW * depthr + depthc];</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="keywordflow">if</span>(plut-&gt;x &lt; 0 || plut-&gt;x &gt;= (<span class="keywordtype">int</span>)monoW || plut-&gt;y &lt; 0 || plut-&gt;y &gt;= (<span class="keywordtype">int</span>)monoH){</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      outPtr[0] = 0;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keyword">const</span> uint8_t* inPtr = &amp;inMono[monoW * plut-&gt;y + plut-&gt;x];</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      outPtr[0] = inPtr[0];</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    }</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  }</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  free(lut);</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordflow">return</span> TY_STATUS_OK;</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;}</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="a00005_html_a466f1f9ecdb947607c5da179d1826c19"><div class="ttname"><a href="a00005.html#a466f1f9ecdb947607c5da179d1826c19">TYInvertExtrinsic</a></div><div class="ttdeci">TY_CAPI TYInvertExtrinsic(const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)</div><div class="ttdoc">Calculate 4x4 extrinsic matrix&amp;#39;s inverse matrix. </div></div>
<div class="ttc" id="a00005_html_a975218e39246e3aefaa357f69f2fba72"><div class="ttname"><a href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a></div><div class="ttdeci">TY_CAPI TYMapPoint3dToPoint3d(const TY_CAMERA_EXTRINSIC *extrinsic, const TY_VECT_3F *point3dFrom, int32_t count, TY_VECT_3F *point3dTo)</div><div class="ttdoc">Map 3D points to another coordinate. </div></div>
<div class="ttc" id="a00061_html"><div class="ttname"><a href="a00061.html">TY_VECT_3F</a></div><div class="ttdef"><b>Definition:</b> <a href="a00002_source.html#l00645">TYApi.h:645</a></div></div>
<div class="ttc" id="a00005_html_a32faf6be5df30fc39e58f135e0fe41a0"><div class="ttname"><a href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a></div><div class="ttdeci">TY_CAPI TYMapPoint3dToDepth(const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, TY_PIXEL_DESC *depth)</div><div class="ttdoc">Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d. ...</div></div>
<div class="ttc" id="a00005_html_a1d3c838a1ee03c5f030457d51c2fd375"><div class="ttname"><a href="a00005.html#a1d3c838a1ee03c5f030457d51c2fd375">TYMapDepthToPoint3d</a></div><div class="ttdeci">TY_CAPI TYMapDepthToPoint3d(const TY_CAMERA_CALIB_INFO *src_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depthPixels, uint32_t count, TY_VECT_3F *point3d, float f_scale_unit=1.0f)</div><div class="ttdoc">Map pixels on depth image to 3D points. </div></div>
<div class="ttc" id="a00005_html_a3ae23d9ec90f2554984519826198e9df"><div class="ttname"><a href="a00005.html#a3ae23d9ec90f2554984519826198e9df">TYMapDepthImageToPoint3d</a></div><div class="ttdeci">TY_CAPI TYMapDepthImageToPoint3d(const TY_CAMERA_CALIB_INFO *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, TY_VECT_3F *point3d, float f_scale_unit=1.0f)</div><div class="ttdoc">Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN). </div></div>
<div class="ttc" id="a00005_html_aa8a7439648a50e28e3c83d5db528c5f6"><div class="ttname"><a href="a00005.html#aa8a7439648a50e28e3c83d5db528c5f6">TYMapPoint3dToDepthImage</a></div><div class="ttdeci">TY_CAPI TYMapPoint3dToDepthImage(const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth)</div><div class="ttdoc">Map 3D points to depth image. (NAN, NAN, NAN) will be skipped. </div></div>
<div class="ttc" id="a00069_html"><div class="ttname"><a href="a00069.html">TY_CAMERA_EXTRINSIC</a></div><div class="ttdef"><b>Definition:</b> <a href="a00002_source.html#l00670">TYApi.h:670</a></div></div>
<div class="ttc" id="a00077_html"><div class="ttname"><a href="a00077.html">TY_CAMERA_CALIB_INFO</a></div><div class="ttdef"><b>Definition:</b> <a href="a00002_source.html#l00684">TYApi.h:684</a></div></div>
<div class="ttc" id="a00177_html"><div class="ttname"><a href="a00177.html">TY_PIXEL_COLOR_DESC</a></div><div class="ttdef"><b>Definition:</b> <a href="a00005_source.html#l00020">TYCoordinateMapper.h:20</a></div></div>
<div class="ttc" id="a00002_html"><div class="ttname"><a href="a00002.html">TYApi.h</a></div><div class="ttdoc">TYApi.h includes camera control and data receiving interface, which supports configuration for image ...</div></div>
<div class="ttc" id="a00173_html"><div class="ttname"><a href="a00173.html">TY_PIXEL_DESC</a></div><div class="ttdef"><b>Definition:</b> <a href="a00005_source.html#l00012">TYCoordinateMapper.h:12</a></div></div>
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